Firmware

For the AUTD3 device to operate correctly, a version of the CPU / FPGA firmware compatible with the SDK must be flashed.

Note

This version of the SDK supports Firmware v0.10.x.

Firmware updates are performed using the Firmware tab of the GUI console autd3-console. See Console for how to obtain it.

Caution

If the firmware version does not match the SDK, correct operation is not guaranteed.

OTA over an Ethernet cable

If both the CPU and the FPGA run firmware v0.10.0 or later, the device can be updated with nothing but an Ethernet cable. If either is v0.9.x or earlier (the EtherCAT firmware), the JTAG update described below is required.

Caution

The OTA cannot take a device back to the EtherCAT firmware (v0.9.x and earlier). To go back to the EtherCAT firmware, flash it via JTAG.

Prerequisites

Complete the host network setup first.

Procedure

1. Connect the AUTD3 and the PC with an Ethernet cable, then turn on the power
2. Launch autd3-console and open the Firmware tab
3. Select Version and Target (Both / FPGA / CPU). Normally use Both (note that updating only the CPU leaves the FPGA on a different version, and correct operation is then not guaranteed)
4. Make sure Method is OTA (the default)
5. Enter the number of connected AUTD3 devices in Devices
6. Set Interface if needed (the default is fine)
7. Press Flash. Progress is shown in the log at the bottom of the panel. The CPU takes tens of seconds, the FPGA about 90 seconds per device
8. The update is complete when Ok! appears in the log. No power cycle is needed (after a CPU update the devices reboot and are enumerated again)

Do not power off the devices during the update. If the update fails, power-cycle the devices and try again.

If an error about a different protocol version appears

If the firmware on the device and autd3-console speak different versions of the communication protocol, OTA fails with an error such as the following.

the device speaks UDP protocol version 4, but this host speaks version 5

In this case, flash it with the following steps.

1. With the autd3-console of the same version as the firmware currently on the device, try flashing the firmware of the version you want to flash
2. Keeping the power on, flash the same firmware once more with the autd3-console of the same version as the firmware you want to flash

Updating via JTAG

Prerequisites

Flashing the firmware requires the following external tools. In each case, the executable must be on the PATH (on Windows, the installation location is detected automatically).

• FPGA flashing: Vivado (vivado / vivado_lab) and a XILINX Platform Cable for the connection.

Note

If the only goal is FPGA flashing, using Vivado Lab Edition is strongly recommended. The standard version (ML Edition) requires over 60 GB to install, whereas the Lab Edition needs only about 6 GB.

• CPU flashing: J-Link Software (JLink / JLinkExe) and a J-Link Plus probe via a J-Link 9-Pin Cortex-M Adapter.

Note

When using an older J-Link device (e.g. J-Link Plus V10 or earlier), check “Install legacy USB Driver for J-Link” during installation of the J-Link Software. For details, see the Segger Wiki.

Flashing Procedure

1. Turn off the AUTD3 power
2. Connect the cables described above. The connection points are as shown in the figure above.
3. Turn on the AUTD3 power
4. Launch autd3-console and open the Firmware tab.
5. Select the version to flash from Version
6. Choose the target to flash under Target (Both / FPGA / CPU).
7. Choose JTAG under Method
8. Press Flash. Progress is shown in the log at the bottom of the panel. Flashing takes several minutes.
9. After flashing completes, power-cycle the AUTD3 to apply the new firmware.